CN109158319A - A kind of halved belt sorting control method and system and device based on wireless communication - Google Patents
A kind of halved belt sorting control method and system and device based on wireless communication Download PDFInfo
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- CN109158319A CN109158319A CN201810831031.XA CN201810831031A CN109158319A CN 109158319 A CN109158319 A CN 109158319A CN 201810831031 A CN201810831031 A CN 201810831031A CN 109158319 A CN109158319 A CN 109158319A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
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Abstract
The present invention relates to a kind of halved belt sorting control system based on wireless communication, the system mainly include piece supplying unit, load bearing unit, sorting control unit, warehouse dispatching control unit, warehouse management system, package barcode scanner.Warehouse dispatching control unit is connect by wireless network module with sorting control unit and warehouse management system, and load bearing unit is connect by wireless network module with sorting control unit.A kind of halved belt sorting control device based on wireless communication realizes sorting control information and sorting trolley location information interaction by waveguide, back indicator and vehicle-mounted beacon in a manner of wireless communication.It is a kind of based on wireless communication halved belt sorting control method include initialization with configuration processing, bar code scan and logistics information processing, sorting operation control processing three processes.Compared with prior art, fast maintenance difficulties, sorting speed, system run all right, production cost is low, sorts high accuracy for examination with reducing by the present invention.
Description
Technical field
The present invention relates to a kind of halved belts to sort control method, and especially a kind of halved belt based on wireless communication sorts control
Method and system and device.
Background technique
In logistic industry, the quantity in circulation of logistics package is growing, and each loglstics enterprise need to put into a large amount of manpower
Material resources are used for the sorting wrapped up logistics.Currently, loglstics enterprise mainly apply sorter system according to the destination of package come into
Row sorting, is put together at corresponding target area for the package screened, facilitates centrally managed distribution.
Halved belt sorting device needs the package screening and classification that quantity performed is huge within a short period of time, it is desirable that logistics is handed over
It pitches with the feature that sorting system and equipment have strong real-time, stability requirement is high, sorting is accurate, sorting speed is fast, sorting system
System and the functional complexity of equipment are also increasing, and the failure of sorting system any part all may cause system and cannot normally complete
Sorting work, meanwhile, certain component costs of sorting system are expensive, maintenance is inconvenient, reliability is not high.The present invention provides a kind of base
Control method and system and device are sorted in the halved belt of wireless communication, the sorting speed of sorting system is can effectively improve, increases
Bonus point picks accuracy rate, improves reliability, increases maintainable, reduction product cost.
Currently, existing carbel sorting or equipment, have the following deficiencies:
1, the information exchange for sorting the controller and sorting main controller of trolley is transmitted by trolley, message transmission rate
It is low, vulnerable to the unstable influence for leading to communication failure is contacted, reduce system reliability；
2, sort trolley controller with sort main controller information exchange transmitted by trolley, need periodically into
Row maintenance, when failure, are difficult to positioning element, and device structure is complicated, increases maintenance cost；
3, the setting accuracy for sorting trolley is not high, while limiting crab traversing speed, reduces sorting speed；
4, the belt position and speed control inaccuracy for sorting trolley, wrap up the lower direction wrapped and speed control is made mistakes, corresponding packet
Wrap up in and be sorted to wrong bin, or package is caused to collide damage, reduce sorting accuracy rate, reduce system stability with can
By property；
5, sorting trolley wire communication is related to electric wiring design and wiring, and difficulty of construction is big, and maintenance cost is high.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on wireless communication
Halved belt sorting control method and system.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of halved belt sorting control system based on wireless communication, which is characterized in that single including FCU piece supplying unit, CSU carrying
Member, DCU driving unit, SMC sort control unit, WDC warehouse dispatching control unit, WMS warehouse management system, PCU distribution list
Member, PCS package barcode scanner, CMU transmission tape control unit composition.The FCU piece supplying unit, CSU load bearing unit, DCU
Driving unit, SMC sorting control unit, PCU power distribution unit, PCS package barcode scanner, CMU transmission tape control unit are embedding
Enter formula single board computer；The WMS warehouse management system, WDC warehouse dispatching control unit are industrial control computer.
Basic module brief introduction is as shown in table 1:
Table 1
The PCU power distribution unit, CMU transmission tape control unit are connect by CAN-A bus with SMC sorting control unit, institute
FCU piece supplying unit, the DCU driving unit stated sort control unit with SMC by CAN-B bus and connect, the PCS wrapping strips
Code scanner sorts control unit by Ethernet-B and SMC and connect, the WDC warehouse dispatching control unit pass through WIFI without
Line network module is connect with SMC sorting control unit.The WMS warehouse management system passes through Ethernet-A and the warehouse WDC tune
Control unit connection is spent, the CSU load bearing unit sorts control unit with SMC by WIFI wireless network module and connect.
The PCU power distribution unit passes through forceful electric power service cable and WDC warehouse dispatching control unit, WMS storehouse management system
System connection, provides 220 volt AC voltages.The PCU power distribution unit passes through light current service cable and FCU piece supplying unit, CSU
Load bearing unit, DCU driving unit, SMC sorting control unit, PCS package barcode scanner, CMU transmission tape control unit connection,
48 volt DC voltages are provided.
The transmission servo drive motor of the FCU piece supplying unit and charging connects, while passing through weight sensor and light
Electric switch obtains the weight information and location information of material.
The Main Processing Unit of the SMC sorting control unit is the tall and handsome Jetson TX2 module reached, is transported on Main Processing Unit
Capable operating system is Linux embedded system.
The FCU piece supplying unit, CSU load bearing unit, DCU driving unit, SMC sort control unit, PCU distribution list
The primary processor that member, PCS package barcode scanner, CMU transmit tape control unit uses STM32 F767, the operation system of operation
System is FreeRTOS embedded system, and software program is programmed using C language and C Plus Plus.
The WMS warehouse management system carries out data base administration using mysql.
A kind of halved belt sorting equipment based on wireless communication, which is characterized in that mainly filled by feeding device, bar code scan
It sets, rack rail structure, sorting carriage device, blanking bin and chute device form.
The feeding device is made of feed inlet, weighing platform, scanning platform, accelerating sections.
The PCS package barcode scanner is mounted on bar code scanner.The FCU piece supplying unit be mounted on into
Expect on device.
The CSU load bearing unit is mounted on sorting carriage device.
The sorting trolley, which is characterized in that mainly by vehicle frame, walking foreign steamer, walking lubrication groove, electronic roller, sorting
Belt, supporting beam, the composition such as take brush.
A kind of halved belt sorting equipment based on wireless communication, which is characterized in that sorting trolley wireless communication and positioning, it is main
It to be realized by waveguide, waveguide leakage slot, back indicator module, vehicle-mounted beacon module.
The waveguide, waveguide leakage slot, back indicator module are mounted in rack rail structure.
The vehicle-mounted beacon module is mounted on CSU load bearing unit.Vehicle-mounted beacon module can be with sorting trolley together
Horizontal movement, when vehicle-mounted beacon module is close to back indicator module, back indicator module can be activated, and start and vehicle-mounted beacon
Module is communicated.
The waveguide is connect with SMC sorting control unit.Wireless communication signals are directed to by SMC sorting control unit
Waveguide, wireless frequency signal reveal slot by waveguide and launch outward wireless signal by waveguide transmissions.
The sorting trolley, which is characterized in that mainly by vehicle frame, walking foreign steamer, walking lubrication groove, electronic roller, sorting
Belt, supporting beam such as take brush, take electric supporting mechanism at the composition.
The main aluminium alloy of the vehicle frame and steel wire rod make, in the case where guaranteeing vehicle frame entirety load bearing stength, energy
The own wt for mitigating vehicle frame, can be improved load capacity, while reducing production cost.
The walking foreign steamer of the sorting trolley, walking lubrication groove, the main walking in a horizontal state for supporting sorting trolley on guide rail,
Middle walking foreign steamer is mainly responsible for the load-bearing of sorting trolley and load, and walking lubrication groove is mainly responsible for auxiliary guiding, and sorting trolley is consolidated
It is scheduled on guide rail, prevents walking foreign steamer from falling off from guide rail, improve the reliability of sorting trolley travelling.
Described takes brush mainly to support to sort the power supply of the electronic and electric components of the body portion of trolley, takes and is electrically directed to wheel
By completing the transmission of 48V direct current in forceful electric power trolley sliding contact.
The wireless communication mainly includes two kinds of wireless information interaction links, the first is to sort control information, and second
Kind is sorting trolley location information.
The sorting control information mainly wirelessly communicates Wifi signal by 2.4G Hz to interact, and is sorted and is controlled by SMC
Unit, CSU load bearing unit, waveguide are realized.The SMC sorting control unit and waveguide are connected by coaxial cable
It connects.
The sorting trolley location information is mainly interacted by 40.8M Hz wireless signal, and it is single to sort control by SMC
Member, CSU load bearing unit, back indicator module are realized.The SMC sorting control unit and back indicator module pass through band screen
Layer twisted pair is covered to connect.
The information frame structure interacted between back indicator module 32 and vehicle-mounted beacon module 21 is as shown in table 2:
Table 2
The SMC sorting control unit is mainly by modulation /demodulation module, baseband decoding module and microprocessor module group
At the model of the microprocessor module is tall and handsome to reach Jetson TX2 module, and CPU is 6 core processors, dominant frequency 2G Hz, mould
8G is saved as in block.Modulation /demodulation module, baseband decoding module and microprocessor module are connected by system bus.
The CSU sorting control unit is mainly by vehicle-mounted beacon module, baseband decoding module, radio-frequency antenna and micro process
Device module composition, the CPU of the microprocessor module are STM32 F767 processor.Vehicle-mounted beacon module, baseband decoding mould
Block and microprocessor module are connected by system bus.
A kind of halved belt based on wireless communication sorts control method, which is characterized in that this method using wirelessly communicate come
It carries out the interaction of control data and carries out the positioning of sorting trolley using active beacon, the sorting control method is in reality
It include three process flows during applying: system initialization and configuration process flow, bar code scan and logistics information processing stream
Journey, sorting operation control process flow.
The system initialization and configuration process flow the following steps are included:
1) system starts to start, and WDC starts to be initialized, and completes the setting of sorting plan；
2) SMC starts to initialize, and completes the self-test of equipment of itself, and interface and WDC carry out init state by wireless communication
Interaction；
3) CSU starts to initialize, and completes the self-test of equipment of itself, and interface and SMC carry out init state by wireless communication
Interaction；
4) the WDC system component state that interface SMC is sended over by wireless communication, including all CSU, SMC, DCU,
The working condition of the components such as PCU, CMU；
5) WDC judges whether system component init state is normal, if yes executes step 6), otherwise executes flashing light alarm, and
Record log and equipment delay machine；
6) interface is issued to SMC when the sorting plan of previous Arrangement and configuration parameter WDC by wireless communication；
7) after SMC receives sorting plan and configuration parameter, local messaging parameter can be set according to configuration parameter, and initial
Change back indicator parameter；
8) SMC notifies FCU to bring into operation normal operation process, and operating status is sent to SMC by FCU；
9) SMC notifies CSU to bring into operation normal operation process, and operating status is sent to SMC by CSU；
10) WDC judges whether system component operating status is normal, if yes executes step 11), otherwise executes flashing light alarm, and
Record log and equipment delay machine；
11) system operates normally, and starts to carry out sorting operation process.
The bar code scan and logistics information process flow the following steps are included:
1) FCU checks the material state on feed zone conveyer belt；
2) judge that feed zone with the presence or absence of material, if it is, executing step 3), otherwise continues to execute step 1)；
3) FCU is controlled in material transmission to weighing platform, and FCU acquires the information of weight sensor, obtains the weight information of material；
4) FCU is controlled in material transmission to scanning platform, and FCU triggers the bar code information of PCS scanning material, obtains the bar code of material
Information and logistics information；
5) judge whether to get bar code information, and can normal decoded information otherwise executed if it is, executing step 7)
Step 6)；
6) FCU carries out material returned processing, by material transmission to feed inlet, and carries out alarm prompt, returns to step 1)；
7) FCU handles logistics information, and bar code information, face free hand drawing piece, weight information etc. are carried out packing processing, are then forwarded to
SMC；
8) SMC receives logistics information packet, and message is sent to WDC by wireless communication；
9) the CSU load and working condition on FCU detection sorting trolley；
10) CSU in normal operating conditions and in light condition is judged whether there is close to FCU, if so, executing step
11) it, otherwise returns to step 9)；
11) FCU controls material in accelerating sections, keeps the horizontal movement rate of material identical as the sorting speed of trolley, controls material
It gets on the bus operation；
12) by the destination address information of current material, message is sent to the CSU of current matching to SMC by wireless communication, and return is held
Row step 1).
The described sorting operation control process flow the following steps are included:
1) CSU checks the load condition of sorting trolley；
2) judge to sort whether trolley has had been loaded into corresponding material, if so, executing step 7), otherwise execute step 3)；
3) CSU checks present beacon location information, and detection loads the range information of section with material；
4) CSU judges whether that arriving at material loads section, executes step 5) if arrived at, otherwise continues to execute step 3)；
5) the CSU material address information that message sink SMC is sended over by wireless communication；
6) CSU carries out material containing processing, and the FCU material uploaded is moved to point by the roller traction belts operation of control sorting trolley
Pick the center of trolley；
7) CSU checks present beacon location information, the range information of detection and advance notice position；
8) CSU judges whether to arrive at material unloading advance notice position, executes step 9) if arrived at, otherwise continues to execute step 7)；
9) the roller traction belts operation of CSU control sorting trolley starts slowly to accelerate, and control material starts with 5 centimeters per seconds
Edge from speed to sorting trolley it is mobile；
10) CSU judges whether to arrive at material unloading target address location, executes step 11) if arrived at, otherwise continues to execute step
It is rapid 9)；
11) the roller traction belts operation of CSU control sorting trolley, starts to accelerate to movement at full speed, and control material starts with 100
The edge of the speed of centimeters per second to sorting trolley is mobile；
12) CSU notifies the discharge status of the current material of SMC and the load condition of trolley by wireless communication, then returns and executes
Step 1).
Compared with prior art, the invention has the following advantages that
1, sorting control information is transmitted using waveguide as medium by wireless communication, and message transmission rate is high, can be reached
It to 800M bps, establishes that communication channel is rapid, and transmission is stablized, improves system reliability；
2, the information exchange for sorting the controller and sorting main controller of trolley is transmitted by wireless communication, device structure
Simply, easy maintenance is easy timing failures component, reduces maintenance workload；
3, the positioning that sorting trolley is carried out using active beacon, improves positioning accuracy, reduces positioning error probability, improves point
Pick efficiency；
4, by advance notice location measure, the belt position and velocity control accuracy of sorting trolley are improved, ensure that system is wrapped up
The direction of lower packet and speed control accuracy and reliability；
5, the design of sorting trolley electric wiring simplifies with wiring, reduces difficulty of construction and product cost.
Detailed description of the invention
Fig. 1 is halved belt sorting control system architecture diagram of the invention.
Fig. 2 is halved belt sorter general structure schematic diagram of the invention.
Fig. 3 is sorting trolley wireless communication and positioning schematic diagram of the invention.
Fig. 4 is sorting trolley and guide rail structure schematic diagram of the invention.
Fig. 5 is sorting trolley wireless communication link structural schematic diagram of the invention.
Fig. 6 is system initialization and configuration process flow diagram of the invention.
Fig. 7 is bar code scan and logistics information process flow diagram of the invention.
Fig. 8 is that sorting operation of the invention controls process flow diagram.
In figure: 401- forceful electric power service cable, 402- power distribution unit, 403- light current service cable, 404-CAN-A bus,
405- transmits tape control unit, 406- piece supplying unit, 407-CAN-B bus, 408- driving unit, 409- package bar code scan
Device, 410- load bearing unit, 411-WIFI wireless network module, 412-WIFI wireless network module, 413-WIFI wireless network mould
Block, 414- warehouse dispatching control unit, 415- warehouse management system, 416- sort control unit, 471- Ethernet-B, 418- with
Too net-A, 40- feeding device, 50- bar code scanner, 30- rack rail structure, 20- sort carriage device, 10- blanking lattice
Mouth and chute device, 31- waveguide, 33- waveguide leakage slot, 32- back indicator module, the vehicle-mounted beacon module of 21-, 29- vehicle frame,
25- walking foreign steamer, 26- walking lubrication groove, the electronic roller of 23-, 24- sort belt, 22- supporting beam, and 61- takes brush, and 60- forceful electric power is sliding
Line is touched, 63- takes electric supporting mechanism, 501- band shielded layer twisted pair, 506- modulation /demodulation module, 505- baseband decoding module,
507- microprocessor module, 28- baseband decoding module, 508- radio-frequency antenna, 503- microprocessor module, 502- coaxial cable.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment:
As shown in Figure 1, a kind of halved belt sorting control system based on wireless communication, including FCU piece supplying unit 406, CSU carrying
Unit 410, DCU driving unit 408, SMC sort control unit 416, WDC warehouse dispatching control unit 414, WMS storehouse management
System 415, PCU power distribution unit 402, PCS package barcode scanner 409, CMU transmit tape control unit 405.The FCU is supplied
Part unit 406, CSU load bearing unit 410, DCU driving unit 408, SMC sort control unit 416, PCU power distribution unit 402, PCS
Wrap up barcode scanner 409, CMU transmission tape control unit 405 is subcompact board computer；The WMS warehouse management system
415, WDC warehouse dispatching control unit 414 is industrial control computer.
The PCU power distribution unit 402, CMU transmission tape control unit 405 are controlled by CAN-A bus 404 and SMC sorting
Unit 416 processed connects, and the FCU piece supplying unit 406, DCU driving unit 408 are controlled by CAN-B bus 407 and SMC sorting
Unit 416 processed connects, and the PCS package barcode scanner 409 sorts control unit 416 by Ethernet 417 and SMC and connects
It connects, the WDC warehouse dispatching control unit 414 sorts control unit by WIFI wireless network module 413,412 and SMC and connects
It connects.The WMS warehouse management system is connect by Ethernet 418 with WDC warehouse dispatching control unit 414, and the CSU is held
Carrier unit 411 sorts control unit 416 with SMC by WIFI wireless network module 412,411 and connect.
The PCU power distribution unit 402 passes through forceful electric power service cable 401 and WDC warehouse dispatching control unit 414, the storehouse WMS
Base management system 415 connects, and provides 220 volt AC voltages.The PCU power distribution unit 402 passes through light current service cable 403
Bar code is wrapped up with FCU piece supplying unit 406, CSU load bearing unit 410, DCU driving unit 408, SMC sorting control unit 416, PCS
Scanner 409, CMU transmission tape control unit 405 connect, and provide 48 volt DC voltages.
The FCU piece supplying unit 406 with charging transmission servo drive motor connect, while by weight sensor with
Optoelectronic switch obtains the weight information and location information of material.The servo drive motor uses Panasonic's servo A5 series
Motor.
The SMC sorts the Main Processing Unit of control unit 416 for the tall and handsome Jetson TX2 module reached, on Main Processing Unit
The operating system of operation is Linux embedded system.
The FCU piece supplying unit 406, CSU load bearing unit 410, DCU driving unit 408, SMC sort control unit
416, the primary processor that PCU power distribution unit 402, CMU transmit tape control unit 405 uses STM32 F767, the operation system of operation
System is FreeRTOS embedded system, and software program is programmed using C language and C Plus Plus.
Operation operating system is that Win7 is grasped on the WMS warehouse management system 415, WDC warehouse dispatching control unit 414
Make system, software program is programmed using C Plus Plus.
The WMS warehouse management system 415 carries out data base administration using mysql.
As shown in Fig. 2, a kind of halved belt sorting equipment based on wireless communication, mainly by feeding device 40, bar code scan
Device 50, rack rail structure 30, sorting carriage device 20, blanking bin and chute device 10.
The feeding device D is made of feed inlet, weighing platform, scanning platform, accelerating sections.
The PCS package barcode scanner 409 is mounted on bar code scanner 50.The FCU piece supplying unit 406
It is mounted on feeding device 40.
The CSU load bearing unit 410 is mounted on sorting carriage device 20.
The sorting trolley 20, which is characterized in that mainly by vehicle frame 29, walking foreign steamer 25, walking lubrication groove 26, electromotive roller
Cylinder 23, sorting belt 24, supporting beam 22, the composition such as take brush 61.
As shown in figure 3, the sorting trolley 20 is carried out wireless communication and positioned, mainly revealed by waveguide 31, waveguide
Slot 33, back indicator module 32, vehicle-mounted beacon module 21 are realized.
The waveguide 31, waveguide leakage slot 33, back indicator module 32 are mounted in rack rail structure 30.
The vehicle-mounted beacon module 21 is mounted on CSU load bearing unit 410.Vehicle-mounted beacon module 21 can be small with sorting
The horizontal movement together of vehicle 20, when vehicle-mounted beacon module 21 is close to back indicator module 32, back indicator module 32 can be activated,
Start to be communicated with vehicle-mounted beacon module 21.
The waveguide 31 is connect with SMC sorting control unit 416.SMC, which sorts control unit 416, believes wireless communication
It number is directed to waveguide 31, wireless frequency signal is transmitted by waveguide 31, and is launched outward by waveguide leakage slot 33.
As shown in figure 4, the sorting trolley 20, which is characterized in that mainly by vehicle frame 29, walking foreign steamer 25, walking
Wheel 26, sorting belt 24, supporting beam 22, the composition such as takes brush 61, takes electric supporting mechanism 63 at electronic roller 23.
The main aluminium alloy of vehicle frame 29 and steel wire rod makes, in the case where guaranteeing vehicle frame entirety load bearing stength,
The own wt that vehicle frame can be mitigated can be improved load capacity, while reduce production cost.
The walking foreign steamer 25 of the sorting trolley 20, walking lubrication groove 26, it is main to support sorting trolley 20 on guide rail 30
Walking in a horizontal state, wherein walking foreign steamer 25 is mainly responsible for the load-bearing of sorting trolley 20 and load, walking lubrication groove 26 is mainly responsible for auxiliary
Sorting trolley 20 is fixed on guide rail 30 by guiding, prevents walking foreign steamer from falling off from guide rail 30, improves sorting trolley travelling
Reliability.
Described takes brush 61 mainly to support to sort the power supply of the electronic and electric components of the body portion of trolley 20, takes conductance
To wheel 61 by completing the transmission of 48V direct current in 60 sliding contact of forceful electric power trolley.
As shown in figure 5, there are mainly two types of wireless information interaction links for the halved belt sorting control system, the first is
Sorting control information, second is sorting trolley location information.
The sorting control information mainly wirelessly communicates Wifi signal by 2.4G Hz to interact, and is sorted and is controlled by SMC
Unit 416, CSU load bearing unit 410, waveguide 31 are realized.The SMC sorting control unit 416 passes through with waveguide 31
Coaxial cable 502 connects.
The sorting trolley location information is mainly interacted by 40.8M Hz wireless signal, and it is single to sort control by SMC
Member 416, CSU load bearing unit 410, back indicator module 32 are realized.The SMC sorting control unit 416 and back indicator
Module 32 is connected by band shielded layer twisted pair 501.
The described SMC sorting control unit 416 is mainly by modulation /demodulation module 506, baseband decoding module 505 and micro-
It manages device module 507 to form, the model of the microprocessor module 507 is tall and handsome to reach Jetson TX2 module, and CPU is at 6 cores
Device is managed, dominant frequency 2G Hz saves as 8G in module.Modulation /demodulation module 506, baseband decoding module 505 and microprocessor module
507 are connected by system bus.
The CSU sorting control unit 410 is mainly by vehicle-mounted beacon module 21, baseband decoding module 28, radio-frequency antenna
508 and microprocessor module 503 form, the CPU of the microprocessor module 503 is STM32 F767 processor.Vehicle-mounted letter
Module 21, baseband decoding module 28 and microprocessor module 503 is marked to connect by system bus.
A kind of halved belt sorting control method based on wireless communication, the interaction of control data is carried out using wireless communication
And the positioning of sorting trolley is carried out using active beacon, the sorting control method includes three in the process of implementation
Processing stage: system initialization and configuration processing, bar code scan and logistics information processing, sorting operation control are handled.
As shown in fig. 6, the system initialization and configuration process flow method the following steps are included:
101) system starts to start, and WDC starts to be initialized, and completes the setting of sorting plan；
102) SMC starts to initialize, and completes the self-test of equipment of itself, and interface and WDC carry out initialization shape by wireless communication
State interaction；
103) CSU starts to initialize, and completes the self-test of equipment of itself, and interface and SMC carry out initialization shape by wireless communication
State interaction；
104) the WDC system component state that interface SMC is sended over by wireless communication, including all CSU, SMC,
The working condition of the components such as DCU, PCU, CMU；
105) WDC judges whether system component init state is normal, if yes executes step 106), otherwise executes flashing light and accuses
It is alert, and record log and equipment delay machine；
106) interface is issued to SMC when the sorting plan of previous Arrangement and configuration parameter WDC by wireless communication；
107) after SMC receives sorting plan and configuration parameter, local messaging parameter can be set according to configuration parameter, and just
Beginningization back indicator parameter；
108) SMC notifies FCU to bring into operation normal operation process, and operating status is sent to SMC by FCU；
109) SMC notifies CSU to bring into operation normal operation process, and operating status is sent to SMC by CSU；
110) WDC judges whether system component operating status is normal, if yes executes step 111), otherwise executes flashing light alarm,
And record log and equipment delay machine；
111) system operates normally, and starts to carry out sorting operation process.
As shown in fig. 7, the bar code scan and logistics information handle the following steps are included:
201) FCU checks the material state on feed zone conveyer belt；
202) judge that feed zone with the presence or absence of material, if it is, executing step 203), otherwise continues to execute step 201)；
203) FCU is controlled in material transmission to weighing platform, and FCU acquires the information of weight sensor, obtains the weight letter of material
Breath；
204) FCU is controlled in material transmission to scanning platform, and FCU triggers the bar code information of PCS scanning material, obtains the item of material
Code information and logistics information；
205) judge whether to get bar code information, and can normal decoded information otherwise held if it is, executing step 7)
Row step 206)；
206) FCU carries out material returned processing, by material transmission to feed inlet, and carries out alarm prompt, returns to step 1)；
207) FCU handles logistics information, and bar code information, face free hand drawing piece, weight information etc. are carried out packing processing, are then forwarded to
SMC；
208) SMC receives logistics information packet, and message is sent to WDC by wireless communication；
209) the CSU load and working condition on FCU detection sorting trolley；
210) CSU in normal operating conditions and in light condition is judged whether there is close to FCU, if so, executing step
211) it, otherwise returns to step 209)；
211) FCU controls material in accelerating sections, keeps the horizontal movement rate of material identical as the sorting speed of trolley, controls material
It gets on the bus operation；
212) by the destination address information of current material, message is sent to the CSU of current matching to SMC by wireless communication, and return is held
Row step 201).
As shown in figure 8, the described sorting operation control processing the following steps are included:
301) CSU checks the load condition of sorting trolley；
302) judge to sort whether trolley has had been loaded into corresponding material, if so, step 307) is executed, it is no to then follow the steps
3)；
303) CSU checks present beacon location information, and detection loads the range information of section with material；
304) CSU judges whether that arriving at material loads section, executes step 305) if arrived at, otherwise continues to execute step 303)；
305) the CSU material address information that message sink SMC is sended over by wireless communication；
306) CSU carries out material containing processing, and material is moved in trolley by the roller traction belts operation of control sorting trolley
The heart；
307) CSU checks present beacon location information, the range information of detection and advance notice position；
308) CSU judges whether to arrive at unloading advance notice position, executes step 309) if arrived at, otherwise continues to execute step
307)；
309) the roller traction belts operation of CSU control sorting trolley starts slowly to accelerate, and control material starts every with 5 centimetres
The edge of the speed of second to sorting trolley is mobile；
310) CSU judges whether to arrive at material unloading target address location, executes step 311) if arrived at, otherwise continues to execute
Step 309)；
311) the roller traction belts operation of CSU control sorting trolley, starts to accelerate to and moves at full speed, control material start with
The edge of the speed of 100 centimeters per seconds to sorting trolley is mobile；
312) CSU notifies the discharge status of the current material of SMC and the load condition of trolley by wireless communication, then returns and executes
Step 301).
Claims (10)
1. a kind of halved belt sorting control method and system based on wireless communication, which is characterized in that the system uses channel radio
Letter is interactive to sort control information and sorting trolley location information；The halved belt sorting control system passes through waveguide, track
Beacon and vehicle-mounted beacon are wireless communication transmissions carrier, to realize sorting controller and sort wireless communication signals between trolley
Transmission and processing；The sorting control method includes three processing stages in the process of implementation: system initialization and configuration
Processing, bar code scan and logistics information processing, sorting operation control are handled.
2. a kind of implement the halved belt sorting control system described in claim 1 based on wireless communication, which is characterized in that this is
System include piece supplying unit, load bearing unit, driving unit, sorting control unit, warehouse dispatching control unit, warehouse management system,
Power distribution unit, package barcode scanner, transmission tape control unit composition；
The piece supplying unit, driving unit, sorting control unit, power distribution unit, package barcode scanner, passes load bearing unit
Sending tape control unit is subcompact board computer, and the warehouse management system, warehouse dispatching control unit are Industry Control calculating
Machine；
The power distribution unit, transmission tape control unit are connect by CAN-A bus with control unit is sorted, the piece supplying list
Member, driving unit by CAN-B bus with sorting control unit connect, the package barcode scanner pass through Ethernet-B and
Control unit connection is sorted, the warehouse dispatching control unit is connect by wireless network module with sorting control unit, institute
The warehouse management system stated is connect by Ethernet-A with warehouse dispatching control unit, and the load bearing unit passes through wireless network
Module is connect with sorting control unit.
3. a kind of halved belt sorting control system based on wireless communication according to claim 1, which is characterized in that described
Power distribution unit connect with warehouse dispatching control unit, warehouse management system by forceful electric power service cable, 220 volt ACs are provided
Voltage；
The power distribution unit by light current service cable and piece supplying unit, load bearing unit, driving unit, sorting control unit,
Barcode scanner, transmission tape control unit connection are wrapped up, 48 volt DC voltages are provided.
4. a kind of halved belt sorting control system based on wireless communication according to claim 1, which is characterized in that described
The Main Processing Unit of sorting control unit be the tall and handsome Jetson TX2 module reached, the operating system run on Main Processing Unit is
Linux embedded system；
The piece supplying unit, driving unit, sorting control unit, power distribution unit, package barcode scanner, passes load bearing unit
Send the primary processor of tape control unit using STM32 F767, the operating system of operation is FreeRTOS embedded system, software
Program is programmed using C language and C Plus Plus；The warehouse management system carries out data base administration using mysql.
5. a kind of halved belt sorting equipment based on wireless communication described in -4 according to claim 1, which is characterized in that sorting is small
Vehicle radio communication and positioning are mainly realized by waveguide, waveguide leakage slot, back indicator module, vehicle-mounted beacon module；
The waveguide, waveguide leakage slot, back indicator module are mounted in rack rail structure；The vehicle-mounted beacon mould
Block is mounted on load bearing unit, and vehicle-mounted beacon module can be with sorting trolley horizontal movement together, when vehicle-mounted beacon module is close
When back indicator module, back indicator module can be activated, and start to be communicated with vehicle-mounted beacon module；The waveguide with
Control unit connection is sorted, control unit is sorted by wireless communication signals and is directed to waveguide, wireless frequency signal passes through waveguide
Pipe transmission, and slot is revealed by waveguide and is launched outward.
6. a kind of halved belt sorting equipment based on wireless communication according to claim 5, which is characterized in that point
Pick trolley, mainly by vehicle frame, walking foreign steamer, walking lubrication groove, electronic roller, sorting belt, damping spring, take brush etc. and form；
The walking foreign steamer of the sorting trolley, walking lubrication groove, the main walking in a horizontal state for supporting sorting trolley on guide rail, wherein walking is outer
Wheel is mainly responsible for the load-bearing of sorting trolley and load, and walking lubrication groove is mainly responsible for auxiliary guiding, and sorting trolley is fixed on guide rail
On, it prevents walking foreign steamer from falling off from guide rail, improves the reliability of sorting trolley travelling；Described takes brush mainly to support to sort
The power supply of the electronic and electric components of the body portion of trolley takes and is electrically directed to wheel by completing 48V in forceful electric power trolley sliding contact
The transmission of direct current.
7. according to wireless communication described in claim 5-6, there are mainly two types of wireless information interaction links, the first is sorting control
Information processed, second is sorting trolley location information；
The sorting control information mainly wirelessly communicates Wifi signal by 2.4G Hz to interact, and by sorting control unit, holds
Carrier unit, waveguide are realized；The sorting control unit and waveguide is connected by coaxial cable；
The sorting trolley location information is mainly interacted by 40.8M Hz wireless signal, by sorting control unit, carrying
Unit, back indicator module are realized；The sorting control unit and back indicator module by band shielded layer twisted pair come
Connection.
8. a kind of halved belt sorting control method based on wireless communication described in -7 according to claim 1, which is characterized in that institute
The system initialization stated and configuration processing the following steps are included:
1) system starts to start, and WDC starts to be initialized, and completes the setting of sorting plan；
2) SMC starts to initialize, and completes the self-test of equipment of itself, and interface and WDC carry out init state by wireless communication
Interaction；
3) CSU starts to initialize, and completes the self-test of equipment of itself, and interface and SMC carry out init state by wireless communication
Interaction；
4) the WDC system component state that interface SMC is sended over by wireless communication, including all CSU, SMC, DCU,
The working condition of the components such as PCU, CMU；
5) WDC judges whether system component init state is normal, if yes executes step 6), otherwise executes flashing light alarm, and
Record log and equipment delay machine；
6) interface is issued to SMC when the sorting plan of previous Arrangement and configuration parameter WDC by wireless communication；
7) after SMC receives sorting plan and configuration parameter, local messaging parameter can be set according to configuration parameter, and initial
Change back indicator parameter；
8) SMC notifies FCU to bring into operation normal operation process, and operating status is sent to SMC by FCU；
9) SMC notifies CSU to bring into operation normal operation process, and operating status is sent to SMC by CSU；
10) WDC judges whether system component operating status is normal, if yes executes step 11), otherwise executes flashing light alarm, and
Record log and equipment delay machine；
11) system operates normally, and starts to carry out sorting operation process.
9. a kind of halved belt sorting control method based on wireless communication described in -7 according to claim 1, which is characterized in that institute
The bar code scan stated and logistics information processing the following steps are included:
1) FCU checks the material state on feed zone conveyer belt；
2) judge that feed zone with the presence or absence of material, if it is, executing step 3), otherwise continues to execute step 1)；
3) FCU is controlled in material transmission to weighing platform, and FCU acquires the information of weight sensor, obtains the weight information of material；
4) FCU is controlled in material transmission to scanning platform, and FCU triggers the bar code information of PCS scanning material, obtains the bar code of material
Information and logistics information；
5) judge whether to get bar code information, and can normal decoded information otherwise executed if it is, executing step 7)
Step 6)；
6) FCU carries out material returned processing, by material transmission to feed inlet, and carries out alarm prompt, returns to step 1)；
7) FCU handles logistics information, and bar code information, face free hand drawing piece, weight information etc. are carried out packing processing, are then forwarded to
SMC；
8) SMC receives logistics information packet, and message is sent to WDC by wireless communication；
9) the CSU load and working condition on FCU detection sorting trolley；
10) CSU in normal operating conditions and in light condition is judged whether there is close to FCU, if so, executing step
11) it, otherwise returns to step 9)；
11) FCU controls material in accelerating sections, keeps the horizontal movement rate of material identical as the sorting speed of trolley, controls material
It gets on the bus operation；
12) by the destination address information of current material, message is sent to the CSU of current matching to SMC by wireless communication, and return is held
Row step 1).
10. a kind of halved belt sorting control method based on wireless communication described in -7 according to claim 1, which is characterized in that
The described sorting operation control processing the following steps are included:
1) CSU checks the load condition of sorting trolley；
2) judge to sort whether trolley has had been loaded into corresponding material, if so, executing step 7), otherwise execute step 3)；
3) CSU checks present beacon location information, and detection loads the range information of section with material；
4) CSU judges whether that arriving at material loads section, executes step 5) if arrived at, otherwise continues to execute step 3)；
5) the CSU material address information that message sink SMC is sended over by wireless communication；
6) CSU carries out material containing processing, and the FCU material uploaded is moved to point by the roller traction belts operation of control sorting trolley
Pick the center of trolley；
7) CSU checks present beacon location information, the range information of detection and advance notice position；
8) CSU judges whether to arrive at material unloading advance notice position, executes step 9) if arrived at, otherwise continues to execute step 7)；
9) the roller traction belts operation of CSU control sorting trolley starts slowly to accelerate, and control material starts with 5 centimeters per seconds
Edge from speed to sorting trolley it is mobile；
10) CSU judges whether to arrive at material unloading target address location, executes step 11) if arrived at, otherwise continues to execute step
It is rapid 9)；
11) the roller traction belts operation of CSU control sorting trolley, starts to accelerate to movement at full speed, and control material starts with 100
The edge of the speed of centimeters per second to sorting trolley is mobile；
12) CSU notifies the discharge status of the current material of SMC and the load condition of trolley by wireless communication, then returns and executes
Step 1).
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111036556A (en) * | 2019-11-29 | 2020-04-21 | 无锡信捷电气股份有限公司 | Implementation method for improving communication reliability of logistics sorting project |
| CN111266296A (en) * | 2020-03-05 | 2020-06-12 | 济南东朔微电子有限公司 | Express delivery automatic sorting intelligent vehicle |
| CN111842171A (en) * | 2019-04-29 | 2020-10-30 | 北京京东乾石科技有限公司 | Sorting trolley and sorting system with sorting trolley |
| CN114273232A (en) * | 2021-12-24 | 2022-04-05 | 浙江凯乐士科技集团股份有限公司 | Workpiece feeding device and sorting and feeding method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842171A (en) * | 2019-04-29 | 2020-10-30 | 北京京东乾石科技有限公司 | Sorting trolley and sorting system with sorting trolley |
| CN111036556A (en) * | 2019-11-29 | 2020-04-21 | 无锡信捷电气股份有限公司 | Implementation method for improving communication reliability of logistics sorting project |
| CN111266296A (en) * | 2020-03-05 | 2020-06-12 | 济南东朔微电子有限公司 | Express delivery automatic sorting intelligent vehicle |
| CN114273232A (en) * | 2021-12-24 | 2022-04-05 | 浙江凯乐士科技集团股份有限公司 | Workpiece feeding device and sorting and feeding method |
| CN119303840A (en) * | 2024-12-13 | 2025-01-14 | 珠海芯烨电子科技有限公司 | A lifting cross sorting device and control method thereof |
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Application publication date: 20190108 |